{
  "abstract": "A bellows-cup vacuum gripping tool comprising one tool-change interface, one bellows cup, one ejector, one contact detector and one vent valve. When the bellows cup reaches the workpiece, the bellows cup is evacuated by the ejector. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.",
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    "robotics-automation/end-effectors/vacuum-grippers",
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    "industrial-motion-power-transmission/fluid-power/vacuum-generation"
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  "keywords": [
    "bellows compliant vacuum tool",
    "tool-change interface",
    "bellows cup",
    "ejector",
    "contact detector",
    "vent valve",
    "compressed air supply",
    "contact sensing",
    "drop release",
    "release control"
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  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
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  "publication_id": "OT-2026-000071570",
  "published_at": "2026-09-17T08:53:11.039722Z",
  "publisher": "Nebula Innovations Limited",
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  "supersedes": null,
  "title": "Single bellows cup vacuum gripper, two stage ejector, vented before set-down, on a tool changer",
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}